Combine soy sauce, vinegar, oil, ginger, garlic, and red-pepper flakes in a small bowl. Stir well to blend. Set aside.

Place a large skillet coated with cooking spray over medium-high heat. Add the asparagus. Cover and cook, shaking the pan frequently to turn the asparagus, for 4 to 5 minutes, or until crisp-tender and lightly charred. Add the reserved soy mixture. Cook, shaking the pan, for 1 minute, or until the liquid is reduced to a glaze.

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